Motorcycle, Device and Method for Controlling the Same and Device and Method for Detecting Slip Quantity of Motorcycle

• US 20080167784A1
• Filed: 01/08/2008
• Published: 07/10/2008
• Est. Priority Date: 01/09/2007
• Status: Active Grant

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: FUJITA, Hirokazu, KINOSHITA, Tomohiro
• Granted Patent: US 7,894,970 B2
• Time in Patent Office: Days
• US Class Current: 701/71
• CPC Class Codes: B60K 28/16 responsive to, or preventing, skidding of wheels brake control systems for vehicle drive stability B60T8/1755; arrangements responsive to a speed condition for adjusting wheel braking force B60T8/32; control of vehicle driving stability otherwise than by controlling the propulsion unit only B60W30/02; preventing wheel slippage by reducing power in rail vehicles B61C15/00
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 2510/0604 Throttle position
• CPC Class Codes: B60W 2520/26 Wheel slip
• CPC Class Codes: B60W 2520/263 Slip values between front and rear axle
• CPC Class Codes: B60W 2710/0605 Throttle position
• CPC Class Codes: B60Y 2200/12 Motorcycles, Trikes; Quads; Scooters

Abstract

Traction control for a motorcycle including a driving wheel speed sensor and a driven wheel speed sensor. An ECU controls an engine on the basis of a corrected slip signal obtained by subtracting a low frequency component of a pre-correction slip signal from the pre-correction slip signal. The pre-correction slip signal is obtained by subtracting a speed of a front wheel detected by the driven wheel speed sensor from a speed of a rear wheel detected by the driving wheel speed sensor.

Claims

1. A motorcycle comprising:

a driving source;

a driving wheel driven by the driving source;

a driven wheel;

a control part;

a driving wheel speed sensor for detecting a speed of the driving wheel; and

a driven wheel speed sensor for detecting a speed of the driven wheel,

wherein the control part controls the driving source based on a corrected slip signal obtained by subtracting a low frequency component of a pre-correction slip signal from the pre-correction slip signal calculated based on a speed of the driving wheel detected by the driving wheel speed sensor, and a speed of the driven wheel detected by the driven wheel speed sensor.

2. The motorcycle according to claim 1, wherein the pre-correction slip signal is obtained by subtracting a speed of the driven wheel detected by the driven wheel speed sensor from a speed of the driving wheel detected by the driving wheel speed sensor.

3. The motorcycle according to claim 1, wherein the pre-correction slip signal is obtained by dividing a speed of the driving wheel detected by the driving wheel speed sensor by a speed of the driven wheel detected by the driven wheel speed sensor.

4. The motorcycle according to claim 1, wherein the low frequency component has a frequency equal to or less than 5 Hz.

5. The motorcycle according to claim 1, wherein the control part comprises:

a low-pass filter for taking out the low frequency component from the pre-correction slip signal;

an operation part for outputting a control signal corresponding to the corrected slip signal; and

a driving force adjusting part for controlling the driving source in accordance with the control signal, wherein

the operation part calculates the pre-correction slip signal, outputs the pre-correction slip signal to the low-pass filter and subtracts the low frequency component taken out through the low-pass filter from the pre-correction slip signal to obtain the corrected slip signal.

6. The motorcycle according to claim 1, wherein the control part comprises:

an operation part for outputting a control signal corresponding to the corrected slip signal; and

a driving force adjusting part for controlling the driving source in accordance with the control signal, wherein

the operation part calculates the pre-correction slip signal, takes out the low frequency component from the pre-correction slip signal and subtracts the low frequency component from the pre-correction slip signal to obtain the corrected slip signal.

7. The motorcycle according to claim 1, wherein the control part comprises:

a high-pass filter for taking out a high frequency component other than the low frequency component from the pre-correction slip signal;

an operation part for calculating the pre-correction slip signal and outputting the pre-correction slip signal to the high-pass filter to output a control signal corresponding to the high frequency component taken out through the high-pass filter; and

a driving force adjusting part for controlling the driving source in accordance with the control signal.

8. The motorcycle according to claim 1, wherein the control part comprises:

an operation part for calculating the pre-correction slip signal, taking out a high frequency component other than the low frequency component from the pre-correction slip signal and outputting a control signal corresponding to the high frequency component; and

a driving force adjusting part for controlling the driving source in accordance with the control signal.

9. The motorcycle according to claim 1, wherein the control part comprises:

a storing part for storing limit data relating to an upper limit value and a lower limit value of the pre-correction slip signal;

a limit part for limiting the pre-correction slip signal on the basis of the limit data so that the pre-correction slip signal would be equal to or more than the lower limit value and equal to or less than the upper limit value;

an operation part for outputting a control signal corresponding to the corrected slip signal obtained by subtracting a low frequency component of the pre-correction slip signal after the limitation from the pre-correction slip signal; and

a driving force adjusting part for controlling the driving source in accordance with the control signal.

10. The motorcycle according to claim 9, wherein

the control part further comprises a low-pass filter for taking out the low frequency component from a pre-correction slip signal after the limitation;

and

the operation part subtracts the low frequency component of the pre-correction slip signal after the limitation, the low frequency component taken out through the low-pass filter, from the pre-correction slip signal to obtain the corrected slip signal.

11. The motorcycle according to claim 9, wherein

the limit data indicates a correlation of at least one of a speed of the driving wheel and a speed of the driven wheel with upper limit value data and lower limit value data of the pre-correction slip signal.

12. The motorcycle according to claim 1, comprising:

a throttle opening sensor for detecting a throttle opening; and

a torque detection part for detecting torque of the driving source,

wherein the control part includes;

a storing part for storing time constant data indicating a correlation of at least one of a speed of the driving wheel, a speed of the driven wheel, a throttle opening and torque of the driving source with a time constant;

an operation part for outputting a control signal corresponding to the corrected slip signal; and

a driving force adjusting part for controlling the driving source in accordance with the control signal, wherein

the operation part subtracts a low frequency component of the pre-correction slip signal, the low frequency component cut off by means of a cutoff frequency based on the time constant data, from the pre-correction slip signal to obtain the corrected slip signal.

13. The motorcycle according to claim 1, wherein the control part comprises:

a storing part for storing time constant data indicating a correlation of at least one of a speed of the driving wheel, a speed of the driven wheel, a throttle opening and torque of the driving source with a time constant and limit data relating to an upper limit value and a lower limit value of the pre-correction slip signal;

a limit part for limiting the pre-correction slip signal on the basis of the limit data so that the pre-correction slip signal would be equal to or more than the lower limit value and equal to or less than the upper limit value;

an operation part for outputting a control signal corresponding to the corrected slip signal; and

a driving force adjusting part for controlling the driving source in accordance with the control signal, wherein

the operation part subtracts a low frequency component of the pre-correction slip signal after the limitation, the low frequency component cut off by means of a cutoff frequency based on the time constant data, from the pre-correction slip signal to obtain the corrected slip signal.

14. The motorcycle according to claim 1, wherein a width of the driving wheel differs from a width of the driven wheel.

15. The motorcycle according to claim 1, wherein the rear wheel is formed from one wheel.

16. The motorcycle according to claim 1, wherein the rear wheel is formed from plural wheels.

17. A control device of a motorcycle comprising:

a driving source;

a driving wheel driven by means of the driving source;

a driven wheel;

a driving wheel speed sensor for detecting a speed of the driving wheel; and

a driven wheel speed sensor for detecting a speed of the driven wheel,

the control device controlling the driving source on the basis of a corrected slip signal obtained by subtracting a low frequency component of the pre-correction slip signal from the pre-correction slip signal obtained by subtracting a speed of the driven wheel detected by the driven wheel speed sensor from a speed of the driving wheel detected by the driving wheel speed sensor.

18. A slip quantity detecting device of a motorcycle comprising:

a driving source;

a driving wheel driven by means of the driving source;

a driven wheel;

a driving wheel speed sensor for detecting a speed of the driving wheel; and

a driven wheel speed sensor for detecting a speed of the driven wheel,

the slip quantity detecting device detecting a slip quantity of the motorcycle by subtracting a low frequency component of the pre-correction slip signal from the pre-correction slip signal obtained by subtracting a speed of the driven wheel detected by the driven wheel speed sensor from a speed of the driving wheel detected by the driving wheel speed sensor.

19. A method of controlling a motorcycle comprising:

a driving source;

a driving wheel driven by means of the driving source;

a driven wheel;

a driving wheel speed sensor for detecting a speed of the driving wheel; and

a driven wheel speed sensor for detecting a speed of the driven wheel,

the method comprising controlling the driving source on the basis of a corrected slip signal obtained by subtracting a low frequency component of the pre-correction slip signal from the pre-correction slip signal obtained by subtracting a speed of the driven wheel detected by the driven wheel speed sensor from a speed of the driving wheel detected by the driving wheel speed sensor.

20. A method for detecting a slip quantity of a motorcycle comprising:

a driving source;

a driving wheel driven by means of the driving source;

a driven wheel;

a driving wheel speed sensor for detecting a speed of the driving wheel; and

a driven wheel speed sensor for detecting a speed of the driven wheel,

the slip quantity detecting method comprising detecting a slip quantity of the motorcycle by subtracting a low frequency component of the pre-correction slip signal from the pre-correction slip signal obtained by subtracting a speed of the driven wheel detected by the driven wheel speed sensor from a speed of the driving wheel detected by the driving wheel speed sensor.